Expandable instrument actuator
A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.
1. A method of actuating a surgical instrument using an actuator assembly of a robotic manipulator, the method comprising the steps of:
providing an actuator assembly having a first face and a second face;
providing a surgical instrument having a proximal body comprising a first control input and a second control input;
moving the actuator assembly from a first position in which the first face and the second face are spaced by a first distance, to a second position in which the first face and second face are spaced by a second, larger, distance;
with the actuator assembly in the second position, positioning the proximal body between the first face and the second face;
with the proximal body between the first face and the second face, moving the actuator assembly from the second position to the first position;
activating a first motor in the actuator assembly to advance a first drive element with respect to the first face, the first drive element advancing the first control input relative to the proximal body to cause at least one of j aw actuation or articulation of the surgical instrument;
activating a second motor in the actuator assembly to advance a second drive element with respect to the second face, second first drive element advancing the second control input relative to the proximal body to cause at least one of jaw actuation or articulation of the surgical instrument.
2. The method of claim 1 , wherein the first and second faces are parallel to one another when the actuator assembly is in the first position.
3. The method of claim 1 , wherein the step of moving the actuator assembly from the first position to the second position comprises pivoting at least one of the first face and the second face.
4. The method of claim 3 , wherein the step of moving the actuator assembly from the first position to the second position comprises pivoting each of the first face and the second face.
5. The method of claim 3 , wherein each of the first face and the second face has a free distal end such that the actuation assembly comprises a generally U-shaped configuration with a seat extending between the first face and the second face, and wherein pivoting at least one of the first face and the second face comprising pivoting the distal end of said at least one of the first face and the second face relative to the seat.
6. The method of claim 1 , wherein:
each of the first face and the second face has a free distal end such that the actuation assembly comprises a generally U-shaped configuration with a seat extending between the first face and the second face,
positioning the proximal body between the first face and the second face comprises positioning a proximal part of the proximal body against the seat.
7. The method of claim 6 , wherein positioning the proximal body between the first face and the second face comprises releasably engaging a proximal part of the proximal body with the seat.
8. The method of claim 7 , wherein:
the method includes, prior to positioning the proximal body between the first face and the second face,
positioning a flexible sterile barrier covering the first face, the second face, and the seat, and
releasably engaging a drape connector with the seat; and
the step of releasably engaging a proximal part of the proximal body with the seat includes, releasably engaging the proximal part of the proximal body with the drape connector.
9. The method of claim 8 , wherein the drape connector is mounted on the flexible sterile barrier.
10. The method of claim 1 , wherein moving the actuator assembly from the first position to the second position comprises activating a motor to move at least one of the first face and second face relative to the other of the first face and the second face.
11. The method of claim 1 , wherein moving the actuator assembly from the first position to the second position comprises manually causing at least one of the first face and second face to move relative to the other of the first face and the second face.
12. The method of claim 1 , wherein the proximal body includes a first body face and a second body face, wherein the first body face and the second body face are planar faces extending parallel to one another.
13. The method of claim 12 , wherein advancing the first drive element with respect to the first face advances the first control input relative to the first body face and advancing the second drive element with respect to the second face advances the second control input relative to the second body face.
14. The method of claim 13 , wherein the first control input is moveable in a first direction relative to the first body face and the second control input is moveable in a second direction relative to the second body face, wherein the first direction and the second direction are parallel to each other.
15. The method of claim 13 , wherein the first face includes a third drive element and the proximal body includes a third control input, and wherein the method further includes advancing the third drive element with respect to the first face to advance the third control input relative to the first body face.
16. The method of claim 15 , wherein the second face includes a fourth drive element and the proximal body includes a fourth control input, and wherein the method further includes advancing the fourth drive element with respect to the second face to advance the fourth control input relative to the second body face.